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Missile-borne infrared seeker-based inertial vision integrated navigation method and device

A technology of integrated navigation and infrared guidance, applied in the field of integrated navigation, can solve the problems of non-existent guided weapon navigation, etc., and achieve the effect of improving autonomy and combat use efficiency

Active Publication Date: 2021-05-04
北京航天飞腾装备技术有限责任公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, there is no relevant scheme for the navigation of guided weapons

Method used

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  • Missile-borne infrared seeker-based inertial vision integrated navigation method and device
  • Missile-borne infrared seeker-based inertial vision integrated navigation method and device
  • Missile-borne infrared seeker-based inertial vision integrated navigation method and device

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Embodiment 1

[0048] refer to figure 1 , shows a flow chart of the steps of a missile-borne infrared seeker-based inertial vision integrated navigation method provided by an embodiment of the present invention, as shown in figure 1 As shown, the navigation method may specifically include the following steps:

[0049] Step 101: When a guided weapon is used to carry out a combat mission, at least three reference points on a preset attack route and the coordinates of the reference point positions of the at least three reference points are obtained.

[0050] The embodiments of the present invention can be applied in the scenario of performing navigation control on guided weapons.

[0051] Guided weapons refer to weapons used in combat missions, such as missiles.

[0052] The attack route refers to the route pre-set by business personnel to control the flight of guided weapons.

[0053] The reference point refers to at least three points randomly selected from the attack route within the fiel...

Embodiment 2

[0114] refer to Figure 5 , which shows a schematic structural diagram of an inertial vision integrated navigation device based on a missile-borne infrared seeker provided by an embodiment of the present invention, as shown in Figure 5 As shown, the navigation device may specifically include the following modules:

[0115] The reference point acquisition module 210 is configured to acquire at least three reference points on the preset attack route and the position coordinates of the reference points of the at least three reference points when the guided weapon is used for combat missions;

[0116] The nonlinear equation acquisition module 220 is used to perform coordinate transformation processing on the navigation results acquired by the navigation system carried on the guided weapon and the position coordinates of the reference point, and obtain the non-linear equation between the angle of sight and the error of the navigation attitude angle and the position error. linear ...

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Abstract

The invention discloses a missile-borne infrared seeker-based inertial vision integrated navigation method and device. The method comprises the following steps: when a guided weapon is adopted to carry out a combat mission, acquiring at least three reference points on an attack route and reference point position coordinates of the at least three reference points; performing coordinate transformation processing on a navigation result obtained by a navigation system and a reference point position coordinate to obtain a nonlinear equation between a sight angle and a navigation attitude angle error and a position error; establishing a combined navigation filter measurement equation according to a reference point sight angle measured by an infrared seeker on a guided weapon; obtaining an integrated navigation filter state equation according to an inertial navigation principle; and conducting calculating according to the nonlinear equation, the combined navigation filter measurement equation, the integrated navigation filter state equation and a preset filtering algorithm to obtain a navigation attitude angle error and a position error, and performing compensation according to the navigation attitude angle error and the position error. According to the invention, the autonomy and combat use efficiency of the infrared terminal guidance type guided weapon can be improved.

Description

technical field [0001] The invention relates to the technical field of integrated navigation, in particular to an inertial vision integrated navigation method and device based on a missile-borne infrared seeker. Background technique [0002] Visual navigation is an autonomous navigation method that uses image sensors to perceive the surrounding environment, and based on this information to determine the relative positional relationship and realize carrier positioning. Relative positioning can be carried out based on the environment during the movement of the carrier, which has the advantages of autonomy and relatively high accuracy within the line-of-sight range, but it is easily affected by environmental factors such as weather and images, and it is difficult to provide continuous navigation and positioning information. [0003] With the continuous improvement of unmanned, intelligent, and autonomous demands in various fields, the visual / inertial combination has gradually b...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20F42B15/01
CPCG01C21/165G01C21/20F42B15/01
Inventor 孟健王怀野李少琛张军李敏高延浩李俊超岳峥孟斐
Owner 北京航天飞腾装备技术有限责任公司
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